Control system

Abstract

Provided is a technique capable of avoiding an increase in work time due to a change in the state of an equipment item when the state of the equipment item mounted on a moving body is changed in accordance with the characteristics of a worker and work content. This control system is provided with: a moving body that is mounted with equipment capable of changing the state, and that can be moved by unmanned driving; an acquisition unit that acquires work information, which is at least one of personal information relating to a worker engaged in work with respect to the moving body and content information indicating work content; and a control unit that uses the acquired work information to change the state of the equipment.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a control system. BACKGROUND

[0002] In the past, a vehicle that travels inside a factory by unmanned driving is known (Patent Literature 1). PRIOR ART DOCUMENT PATENT LITERATURE

[0003] Patent Literature 1: Japanese Patent Application Laid-Open No. 2017-538619 SUMMARY PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] In order to perform inspection of a vehicle, an operator sometimes gets on the vehicle and manipulates the vehicle. In this case, the operator sometimes changes the position, posture of equipment such as a seat, a steering wheel, a door mirror, and the like in accordance with the characteristics of the operator and the like. In addition, in a case where a part is assembled to the vehicle or the vehicle is repaired, the operator sometimes changes the position, posture of equipment such as a seat, a steering wheel, and the like or changes the opening / closing state of equipment such as a door mirror, a power door, a power window, and the like in accordance with the work content. The appropriate state of equipment mounted on the vehicle differs depending on the characteristics of the operator and the work content. In a case where the operator performs an operation of changing the state of equipment, the work time is likely to increase. Such a problem is not limited to a vehicle but is common in a mobile body. TECHNICAL MEANS FOR SOLVING THE PROBLEM

[0005] The present disclosure can be implemented as the following modes.

[0006] (1) According to one embodiment of the present disclosure, a control system is provided. The control system includes a mobile body on which equipment capable of changing a state is mounted and capable of moving by unmanned driving, an acquisition unit that acquires work information of at least one of personal information related to an operator who engages in work on the mobile body and content information that shows a work content, and a control unit that changes the state of the equipment using the acquired work information. According to this mode, the control system can automatically change the state of the equipment in accordance with the characteristics of the operator and the work content without the operator performing an operation of changing the state of the equipment. Thus, the control system can shorten the work time. (2) In the above mode, the control unit can complete the change of the state of the equipment before the work starts. According to this mode, the control system can change the state of the equipment in advance before the work starts. Thus, the control system can further shorten the work time. (3) In the above-described aspect, in a case where the work content determined on the basis of the content information includes a steering work in which the worker gets on the mobile body and steers the same, the acquisition unit can acquire the personal information on the worker who performs the steering work, and the control unit can change the state of the equipment on the basis of the acquired personal information. According to this aspect, the control system can change the state of the equipment to a suitable state corresponding to the characteristics of the worker who performs the steering work. Thus, the worker can easily steer the mobile body. (4) In the above-described aspect, the control system can further include a storage that stores a database in which the work information and the state of the equipment are associated with each other, and the control unit can determine the state of the equipment to which the acquired work information is associated, and change the state of the equipment to the determined state. According to this aspect, the control system can easily change the state of the equipment to a suitable state corresponding to the characteristics of the worker and the work content by referring to the database. (5) In the above-described aspect, the storage can store a plurality of databases prepared for each category of the mobile body, the acquisition unit can further acquire category information indicating the category of the mobile body, and the control unit can refer to the database of the category determined on the basis of the acquired category information, among the plurality of databases, when determining the state of the equipment. According to this aspect, the control system can change the equipment to a more suitable state corresponding to the category of the mobile body. The present disclosure can be implemented in various aspects other than the control system described above. For example, the present disclosure can be implemented by a manufacturing method of the control system, a control method of the equipment, a computer program that implements the control method, a non-transitory recording medium in which the computer program is recorded, and the like. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a conceptual diagram illustrating a configuration of a control system in a first embodiment. Figure 2 is a block diagram illustrating a configuration of the control system. Figure 3 is a diagram illustrating an example of a database. Figure 4 is a diagram illustrating another example of the database. Figure 5 is a flowchart illustrating a processing flow of travel control in the first embodiment. Figure 6 is a flowchart illustrating an example of a control method of the equipment. Figure 7 is an explanatory diagram showing an outline configuration of a control system in the second embodiment. Figure 8 is a flowchart showing a processing flow of travel control in the second embodiment. DETAILED DESCRIPTION

[0008] A. First Embodiment: Figure 1 is a conceptual diagram showing a configuration of the control system 50 in the first embodiment. The control system 50 is provided with one or more vehicles 100 as mobile bodies, a server 200, and one or more external sensors 300.

[0009] In the present disclosure, a "mobile body" means an object capable of moving, and is, for example, a vehicle, an electric vertical takeoff and landing aircraft (so-called flying car). The vehicle can be a vehicle that travels by wheels, or a vehicle that travels by tracks, and is, for example, a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, an engineering vehicle, or the like. The vehicle includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. In a case where the mobile body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and the expression "travel" can be appropriately replaced with "move".

[0010] The vehicle 100 is configured to be capable of traveling by unmanned driving. "Unmanned driving" means driving that does not depend on a travel operation by an occupant. The travel operation means an operation related to at least one of "travel", "steering", and "stop" of the vehicle 100. The unmanned driving is realized by remote control, which is automatic or manual, using a device located outside the vehicle 100, or autonomous control of the vehicle 100. In the vehicle 100 that travels by unmanned driving, an occupant who does not perform the travel operation can also be on board. The occupant who does not perform the travel operation includes, for example, a person who just sits on a seat of the vehicle 100, and a person who performs an operation other than the travel operation, such as assembly, inspection, and switching, while riding the vehicle 100. Further, driving based on the travel operation by the occupant is sometimes referred to as "manned driving".

[0011] In the present specification, "remote control" includes "complete remote control" in which all actions of the vehicle 100 are decided from the outside of the vehicle 100, and "partial remote control" in which a part of the actions of the vehicle 100 is decided from the outside of the vehicle 100. In addition, "autonomous control" includes "complete autonomous control" in which the vehicle 100 autonomously controls its actions without receiving any information from a device outside the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its actions using information received from a device outside the vehicle 100.

[0012] In the present embodiment, the control system 50 is used in a factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be expressed by the coordinates of X, Y, Z in the global coordinate system GC. In the present embodiment, the factory FC is provided with a first place PL1, a second place PL2, a third place PL3, and a travel road TR that connects the places PL1 to PL3. For the vehicle 100, a plurality of manufacturing processes are performed while moving on the travel road TR. In a first work area WA1 in the first place PL1 in the travel road TR, a first work process WP1 of performing a first work on the vehicle 100 among the plurality of manufacturing processes is performed. In a first transport area TA1 in the travel road TR that connects the first place PL1 and the second place PL2, a first transport process TP1 of transporting the vehicle 100 from the first place PL1 to the second place PL2 among the plurality of manufacturing processes is performed. In a second work area WA2 in the second place PL2 in the travel road TR, a second work process WP2 of performing a second work on the vehicle 100 among the plurality of manufacturing processes is performed. In a second transport area TA2 in the travel road TR that connects the second place PL2 and the third place PL3, a second transport process TP2 of transporting the vehicle 100 from the second place PL2 to the third place PL3 among the plurality of manufacturing processes is performed. In a third work area WA3 in the third place PL3 in the travel road TR, a third work process WP3 of performing a third work on the vehicle 100 among the plurality of manufacturing processes is performed. The travel road width L1 in the first work area WA1, the first transport area TA1, and the second work area WA2 in the travel road TR is wider than a reference width LS set in advance. The travel road width L2 in the second transport area TA2 and the third work area WA3 in the travel road TR is narrower than the reference width LS. The first work area WA1, the second work area WA2, the second transport area TA2, and the third work area WA3 in the travel road TR are located indoors. The first transport area TA1 in the travel road TR is located outdoors.

[0013] In the factory FC, a plurality of external sensors 300 are provided along the traveling road TR. The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from the outside of the vehicle 100. The external sensor 300 has a communication device (not shown) and is capable of communicating with other devices such as the server 200 through wired or wireless communication. Specifically, the external sensor 300 is constituted by a camera. The camera of the external sensor 300 photographs the vehicle 100 and outputs a photographed image as a detection result. The positions of the respective external sensors 300 in the factory FC are adjusted in advance.

[0014] Figure 2 is a block diagram showing the configuration of the control system 50. The vehicle 100 has a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators driven under the control of the vehicle control device 110, and a communication device 130 for communicating with external devices such as the server 200 through wireless communication. The actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a brake device for decelerating the vehicle 100.

[0015] Further, the vehicle 100 is equipped with an equipment 140 capable of changing various states such as position, posture, opening / closing state, and the like. In conjunction therewith, the actuator group 120 also includes a specific actuator for changing the state of the equipment 140. The equipment 140 is, for example, an electric seat. Hereinafter, the "electric seat" is simply referred to as "seat". In this case, the specific actuator is a seat adjustment device for changing the state of the seat. The equipment 140 can also be an electric tilt-telescopic steering wheel. Hereinafter, the "electric tilt-telescopic steering wheel" is simply referred to as "steering wheel". In this case, the specific actuator is a steering wheel adjustment device for changing the state of the electric steering wheel. The equipment 140 can also be an electric door mirror. Hereinafter, the "electric door mirror" is simply referred to as "mirror". In this case, the specific actuator is a mirror adjustment device for changing the state of the mirror. The equipment 140 can also be an electric door. Hereinafter, the "electric door" is simply referred to as "door". In this case, the specific actuator is a door opening / closing device for changing the state of the door. The equipment 140 can also be an electric window. Hereinafter, the "electric window" is simply referred to as "window". In this case, the specific actuator is a window opening / closing device for changing the state of the window. In addition, the vehicle 100 can be equipped with the equipment 140 and the specific actuator other than the above.

[0016] The vehicle control device 110 is composed of a computer provided with a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are bidirectionally communicable via the internal bus 114. The actuator group 120 and the communication device 130 are connected to the input / output interface 113. The processor 111 functions as a vehicle control section 115 by executing a program PG1 stored in the memory 112.

[0017] The vehicle control section 115 causes the vehicle 100 to travel by controlling the actuator group 120. In the present embodiment, the vehicle control section 115 causes the vehicle 100 to travel by controlling the actuator group 120 using a travel control signal received from the server 200. The travel control signal is a control signal for causing the vehicle 100 to travel. In the present embodiment, the travel control signal contains an acceleration and a steering angle of the vehicle 100 as parameters. In other embodiments, the travel control signal can contain a speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100. Further, in the present embodiment, the vehicle control section 115 changes the state of the equipment 140 by controlling a specific actuator using an equipment control signal received from the server 200. The equipment control signal is a control signal for changing the state of the equipment 140.

[0018] The server 200 is composed of a computer provided with a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are bidirectionally communicable via the internal bus 204. The communication device 205 for communicating with various devices outside the server 200 is connected to the input / output interface 203. The communication device 205 is capable of communicating with the vehicle 100 by wireless communication and with each external sensor 300 by wired or wireless communication. The processor 201 functions as an acquisition section 211 and a remote control section 212 by executing a program PG2 stored in the memory 202.

[0019] The acquisition section 211 acquires work information. Work information is information that includes at least one of personal information and content information. Personal information is information related to the personnel performing work on vehicle 100. Personal information may include, for example, personnel identification information that identifies the personnel. Personal information may also be characteristic information that shows the characteristics of the personnel. Characteristic information may include, for example, physical information showing the personnel's physique. Physical information may include, for example, information showing at least one of the personnel's height, sitting height, leg length, arm length, and eye level. Characteristic information may also include habitual information showing the personnel's habits. Habitual information may include, for example, information showing the personnel's dominant hand. Content information is information showing the work content on vehicle 100. Content information may include, for example, process identification information that identifies multiple manufacturing processes. Content information may also include manipulation information indicating whether the operation involves the personnel riding in vehicle 100 and performing manipulation. Content information may also include object information showing the work target part on vehicle 100. Content information may also include environmental information showing the driving road widths L1 and L2, and whether the driving location is indoors or outdoors. The content information may also include sequence information showing the pre-set execution order of multiple manufacturing processes.

[0020] The remote control unit 210 acquires detection results based on sensors, uses the detection results to generate a driving control signal for controlling the actuator assembly 120 of the vehicle 100, and sends the driving control signal to the vehicle 100, thereby enabling the vehicle 100 to move remotely. Furthermore, the remote control unit 212 uses the acquired work information to generate an equipment control signal. The remote control unit 212 then sends the equipment control signal to the vehicle 100, thereby changing the state of the equipment 140 remotely. In this embodiment, the remote control unit 212 establishes a database DB corresponding to the work information and the appropriate state of the equipment 140, stored in the memory 202 of the server 200. Therefore, the remote control unit 212 determines the state of the equipment 140 corresponding to the acquired work information, and generates an equipment control signal to change the state of the equipment 140 to the determined state.

[0021] Figure 3 This is a diagram illustrating an example of a database (DB). Figure 3 The database DB shown has a content table TB1 and a sub-operator table TB2. Content table TB1 shows the appropriate status ST of equipment item 140 corresponding to the operation content. Figure 3In the example shown, in Content Table TB1, the process identification information SI, manipulation information DI, object information TI, environmental information EI, and sequence information OI, which are part of the work information MI, are correlated with the states ST of the seats, rearview mirrors, doors, and windows of Equipment 140. Specifically, in Content Table TB1, the appropriate states ST for Equipment 140 specify the positions PD1, PD2, PP1, PP2 of each seat in the forward / backward direction of Vehicle 100, the open / closed states of the rearview mirrors, the open / closed states of each door, and the open / closed states of each window. The Personnel Table TB2 shows the appropriate states ST of Equipment 140 for each worker. Figure 3 In the example shown, in the sub-operator table TB2, the operator identification information WI, which is the personal information PI in the work information MI, is established to correspond with the status ST of the seat, steering wheel, and rearview mirror of the equipment 140. Specifically, in the sub-operator table TB2, the appropriate status ST of the equipment 140 specifies the driver's seat positions PD3, PD4, backrest tilt angles AR1, AR2, seat heights HS1, HS2 and tilt angles AS1, AS2, and headrest heights HH1, HH2. Furthermore, in the sub-operator table TB2, the appropriate status ST of the equipment 140 specifies the steering wheel angles TI1, TI2 and positions TE1, TE2, and the rearview mirror angles AM1, AM2.

[0022] Figure 4 This is a diagram illustrating another example of a database (DB). Figure 4 The database DB shown has a content table TB1 and a partition table TB3. Figure 4 The breakdown table TB3 shown indicates the appropriate condition ST of equipment 140 corresponding to the physique of the operator. Figure 4 In the example shown, in the component grid TB3, the status ST of equipment 140 is specified for each of the three zones categorized according to the height of the operator. Specifically, in the component grid TB3, the feature information FI, which is the personal information PI in the work information MI, is correlated with the status ST of the seat, steering wheel, and rearview mirror of equipment 140. More specifically, in the component grid TB3, the appropriate status ST for equipment 140 specifies the driver's seat positions PD1, PD5, PD6, backrest tilt angles AR3 to AR5, seat height HS3 to HS5 and tilt angles AS3 to AS5, and headrest height HH3 to HH5. Furthermore, in the component grid TB3, the appropriate status ST for equipment 140 specifies the steering wheel angles TI3 to TI5 and positions TE3 to TE5, and the rearview mirror angles AM3 to AM5.

[0023] In the TB3 body grid, the status ST of equipment 140 is defined as follows: The driver's seat position is defined as follows: using the standard height position PD1 as a reference, the taller the person, the further back position PD5 is, and the shorter the person, the further forward position PD6 is. The driver's seat backrest tilt angle is defined as follows: using the standard height tilt angle AR4 as a reference, the taller the person, the larger the tilt angle AR3 is, and the shorter the person, the smaller the tilt angle AR5 is. The driver's seat height is defined as follows: using the standard height height HS4 as a reference, the taller the person, the higher the height HS3 is, and the shorter the person, the lower the height HS5 is. The driver's seat tilt angle is defined as follows: using the standard height tilt angle AS4 as a reference, the taller the person, the larger the tilt angle AS3 is, and the shorter the person, the smaller the tilt angle AS5 is. The driver's seat headrest height is defined as follows: using the standard height height HH4 as a reference, the taller the person, the higher the height HH3 is, and the shorter the person, the lower the height HH5 is.

[0024] Furthermore, the composition of the database DB is not limited to the above. The database DB may include at least one of the following, corresponding to the type of work information MI obtained: a table TB1 that corresponds to the content information CI and the status ST of equipment 140, and tables TB2 and TB3 that correspond to the personal information PI and the status ST of equipment 140. Additionally, the appropriate status ST of equipment 140 can be appropriately changed according to the situation.

[0025] Figure 5 This is a flowchart illustrating the processing flow of the vehicle 100's driving control in the first embodiment. Figure 5 In the processing flow, the processor 201 of the server 200 functions as a remote control unit 212 by executing program PG2. Additionally, the processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing program PG1.

[0026] In step S1, the processor 201 of the server 200 uses the detection results output from the external sensor 300 to obtain vehicle position information. This vehicle position information is the basis for generating driving control signals. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 uses images captured from a camera, which is the external sensor 300, to obtain the vehicle position information.

[0027] Specifically, in step S1, the processor 201 detects the shape of the vehicle 100 from the captured image, calculates the coordinates of the vehicle 100's location points in the coordinate system of the captured image (i.e., the local coordinate system), and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby obtaining the position of the vehicle 100. The shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model DM employing artificial intelligence. The detection model DM is prepared, for example, within or outside the control system 50, and pre-stored in the memory 202 of the server 200. As the detection model DM, for example, a learned machine learning model trained in a manner that achieves either semantic segmentation or instance segmentation can be used. As this machine learning model, for example, a convolutional neural network (hereinafter CNN) trained using a learning dataset can be used. The learning dataset, for example, has multiple training images containing the vehicle 100, and labels indicating which region in the training images represents the vehicle 100 and which region outside the vehicle 100 it represents. During CNN learning, it is appropriate to update the CNN parameters by using back-propagation (error backpropagation method) to reduce the error between the output of the detection model DM and the label. Additionally, the processor 201 can estimate the orientation of the vehicle 100 by using, for example, optical flow to calculate the direction of the vehicle 100's movement vector based on the positional changes of the vehicle 100's feature points between frames of the captured image.

[0028] In step S2, the processor 201 of the server 200 determines the target location that the vehicle 100 should go to next. In this embodiment, the target location is represented by the X, Y, and Z coordinates in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference path RR, which serves as the path that the vehicle 100 should travel. The path is represented by nodes indicating the starting point, nodes indicating the waypoints, nodes indicating the destination, and links connecting the nodes. The processor 201 uses the vehicle location information and the reference path RR to determine the target location that the vehicle 100 should go to next. The processor 201 determines the target location on the reference path RR, which is further ahead of the vehicle 100's current location.

[0029] In step S3, the processor 201 of the server 200 generates a driving control signal to move the vehicle 100 toward the determined target position. The processor 201 calculates the vehicle 100's speed based on the vehicle 100's position shift and compares the calculated speed with the target speed. Generally, when the speed is lower than the target speed, the processor 201 determines acceleration to make the vehicle 100 accelerate; when the speed is higher than the target speed, it determines acceleration to make the vehicle 100 decelerate. Furthermore, when the vehicle 100 is on the reference path RR, the processor 201 determines the steering angle and acceleration to prevent the vehicle 100 from leaving the reference path RR; when the vehicle 100 is not on the reference path RR—in other words, when the vehicle 100 has left the reference path RR—it determines the steering angle and acceleration to return the vehicle 100 to the reference path RR.

[0030] In step S4, the processor 201 of the server 200 sends the generated driving control signal to the vehicle 100. The processor 201 repeatedly performs tasks such as acquiring vehicle position information, determining target position, generating driving control signals, and sending driving control signals at a predetermined cycle.

[0031] In step S5, the processor 111 of vehicle 100 receives a driving control signal sent from server 200. In step S6, the processor 111 of vehicle 100 uses the received driving control signal to control the actuator assembly 120, thereby causing vehicle 100 to travel at the acceleration and steering angle represented by the driving control signal. The processor 111 repeatedly receives the driving control signal and controls the actuator assembly 120 at a predetermined cycle. According to the control system 50 of this embodiment, vehicle 100 can be driven remotely, and vehicle 100 can be moved without the use of conveying equipment such as cranes or conveyors.

[0032] Figure 6 This is a flowchart illustrating an example of a control method for equipment 140. Figure 6 The control method shown is, for example, executed whenever each work step WP1 to WP3 is completed. In this embodiment, the server 200 determines whether each work step WP1 to WP3 has been completed. Furthermore, if the server 200 determines that each work step WP1 to WP3 has been completed, it begins... Figure 6The control method shown ensures that the change of the state ST of equipment 140 is completed before the start of the next operation. Server 200 determines whether each operation step WP1 to WP3 has been completed, for example, as follows: Server 200 executes a determination process that uses vehicle location information to determine which zone TA1, TA2, WA1 to WA3 on the travel road TR is where vehicle 100 is located, thereby identifying the manufacturing steps TP1, TP2, WP1 to WP3 currently being performed on vehicle 100 from manufacturing steps TP1, TP2, and WP1 to WP3. Server 200 detects the switching of manufacturing steps TP1, TP2, and WP1 to WP3 currently being performed on vehicle 100 by repeatedly executing this determination process at a predetermined cycle. Furthermore, when server 200 detects a switch from each operation step WP1 to WP3 to each transport step TP1, TP2, it determines that each operation step WP1 to WP3 has been completed. Alternatively, server 200 can also determine that each operation step WP1 to WP3 has been completed when sensors or the like detect that personnel have disembarked from vehicle 100. Alternatively, if the server 200 detects that the operator has left the driver's seat through sensors, it can determine that each work process WP1 to WP3 has been completed.

[0033] In step S101, the acquisition unit 211 of the server 200 acquires content information CI, which includes process identification information SI and operation information DI. If the work content determined based on the content information CI includes operation (step S102: Yes), in step S103, the acquisition unit 211 acquires operator identification information WI regarding the operator performing the operation. In step S104, the remote control unit 212 of the server 200 refers to the operator sub-table TB2 of the database DB stored in the memory 202 and determines the status ST of the equipment 140 corresponding to the acquired operator identification information WI. If the work content determined based on the content information CI does not include operation (step S102: No), the remote control unit 212 executes step S105. In step S105, the remote control unit 212 refers to the content table TB1 of the database DB stored in the memory 202 and determines the status ST of the equipment 140 corresponding to the acquired process identification information SI. In step S106, the remote control unit 212 generates an equipment control signal to change the state ST of equipment 140 to the determined state ST. In step S107, the remote control unit 212 sends the generated equipment control signal to the vehicle 100. If the vehicle 100 receives the equipment control signal (step S108: Yes), the vehicle control unit 115 of the vehicle 100 executes step S109. In step S109, the vehicle control unit 115 controls a specific actuator using the received equipment control signal, thereby changing the state ST of equipment 140 to the state ST represented by the equipment control signal.

[0034] According to the first embodiment described above, the server 200 can use the personal information PI, which is the work information MI, to generate an equipment control signal for changing the state ST of equipment 140 and send it to the vehicle 100, thereby changing the state ST of equipment 140. In this way, the control system 50 does not require the operator to perform the action of changing the state ST of equipment 140, and can change the state ST of equipment 140 remotely according to the characteristics of the operator. Furthermore, according to the first embodiment described above, the server 200 can use the content information CI, which is the work information MI, to generate an equipment control signal for changing the state ST of equipment 140 and send it to the vehicle 100, thereby changing the state ST of equipment 140. In this way, the control system 50 does not require the operator to perform the action of changing the state ST of equipment 140, and can change the state ST of equipment 140 remotely according to the work content. Therefore, the control system 50 can shorten the work time. Furthermore, the control system 50 can reduce the workload of the operator.

[0035] Furthermore, according to the first embodiment described above, the acquisition unit 211 can acquire at least content information CI, and if the work content determined based on the content information CI includes a maneuvering operation, it acquires personal information PI about the operator performing the maneuvering operation. Then, the remote control unit 212 can use the acquired personal information PI to change the state ST of the equipment 140. In this way, the control system 50 can change the state ST of the equipment 140 to a suitable state ST corresponding to the characteristics of the operator performing the maneuvering operation. As a result, the operator can easily operate the vehicle 100.

[0036] Furthermore, according to the first embodiment described above, the control system 50 includes a memory 202 that stores a database DB that establishes a correspondence between work information MI and the state ST of equipment 140. Thus, by referring to the database DB, the control system 50 can determine the state ST of equipment 140 that corresponds to the acquired work information MI, and change the state ST of equipment 140 to the determined state ST. In this way, the control system 50 can easily change the state ST of equipment 140 to a suitable state ST corresponding to the characteristics of the operator and the work content by referring to the database DB. Alternatively, the control system 50 can also determine a suitable state ST of equipment 140 using methods other than referring to the database DB. For example, the control system 50 may predict a suitable state ST of equipment 140 in accordance with the execution sequence of multiple manufacturing processes TP1, TP2, WP1 to WP3, without referring to the database DB, thereby determining a suitable state ST of equipment 140.

[0037] Furthermore, according to the first embodiment described above, the control system 50 can change the state ST of the seat, steering wheel, rearview mirror, door, and window of the equipment 140 in accordance with the characteristics of the operator and the work content.

[0038] Furthermore, according to the first embodiment described above, in Figure 3 and Figure 4 In table TB1 of the database DB shown, the seat positions are specified in a way that ensures sufficient working space for the work object in the second work step WP2, which involves work performed within the vehicle 100. Specifically, it is specified that in the second work step WP2, which involves work performed in the rear seats, the positions PD2 and PP2 of the driver's and passenger's seats are forward compared to the positions PD1 and PP1 of the seats in the first work step WP1, which involves work performed in the driver's seat. This allows the control system 50 to increase the space between the front and rear seats. In this way, the control system 50 can change the seat positions accordingly to the work object. Therefore, the control system 50 can improve the workability of the operator.

[0039] Furthermore, according to the first embodiment described above, the content table TB1 specifies that in the second conveying process TP2 and the third operation process WP3, where the road width L2 is narrower than the reference width LS, the rearview mirror and doors of the equipment 140, which open and close in the width direction of the vehicle 100, are closed. Therefore, the control system 50 can close the equipment 140 when the vehicle 100 is traveling in zones TA2 and WA3, where the road width L2 is narrower than the reference width LS. In this way, the control system 50 can change the state ST of the equipment 140 accordingly to the road widths L1 and L2. Thus, the control system 50 can prevent the equipment 140 from contacting manufacturing equipment, building walls, etc., installed along the road TR.

[0040] Furthermore, according to the first embodiment described above, the content table TB1 specifies that in the first work step WP1 and the second work step WP2, which involve work performed inside the vehicle 100, the door of the work target area is in an open state. Therefore, when a worker is working inside the vehicle 100, the control system 50 can open the door of the work target area. This allows the control system 50 to change the opening and closing state of the door accordingly to the work target area. Consequently, the control system 50 can shorten the time required for the worker to ride in the vehicle 100. Furthermore, if the worker has difficulty opening the door due to holding tools, the control system 50 can enable the worker to begin work without requiring the worker to open the door. Therefore, the control system 50 can further shorten the work time. Moreover, even in the case of work performed inside the vehicle 100, such as the third work step WP3, if the road width L2 is narrower than the reference width LS, the control system 50 can close the door that opens and closes in the width direction of the vehicle 100. Furthermore, even when the width of the driving road L2 is narrower than the reference width LS, the control system 50 can open the door if the door of the controlled object is a sliding door.

[0041] Furthermore, according to the first embodiment described above, the content table TB1 specifies that during the first conveying process TP1 of the first conveying area TA1 located outdoors, all windows are closed. Therefore, the control system 50 can keep the windows closed when the vehicle 100 is traveling outdoors. In this way, the control system 50 can change the opening and closing state of the windows according to the travel location. Thus, when the vehicle 100 is traveling outdoors, the control system 50 can prevent rain from falling into the vehicle 100.

[0042] Furthermore, according to the first embodiment described above, the content table TB1 specifies that in the first work step WP1, the second work step WP2, and the third work step WP3, which involve operations performed inside the vehicle 100, each window is in an open state. Therefore, the control system 50 can keep the windows open while the operator is working inside the vehicle 100. This allows the control system 50 to change the opening and closing state of the windows in accordance with the work content. As a result, the operator can recognize external sounds from the vehicle 100 during work. Furthermore, when the vehicle 100 is a work-in-process or semi-finished product awaiting inspection, windows may sometimes be unable to open due to abnormalities such as battery malfunctions. Even in this case, the control system 50 can pre-open the windows. Therefore, the control system 50 can improve operational safety.

[0043] Furthermore, according to the first embodiment described above, the content table TB1 specifies that in the first work step WP1 and the third work step WP3, which include the manipulation operation, the position of the driver's seat is set to the standard height position PD1. In this way, the standard height state ST can be preset as the initial value of the equipment 140's state ST in the content table TB1. This allows the control system 50 to reduce the amount of change in the equipment 140's state ST. Consequently, the control system 50 can shorten the time required to change the equipment 140's state ST. Therefore, when the work content determined according to the content information CI includes the manipulation operation, the control system 50 does not need to use the personal information PI; even if the content information CI is used to change the equipment 140's state ST, the operation time can be shortened.

[0044] Furthermore, according to the first embodiment described above, the control system 50 refers to the database DB... Figure 3 The personnel breakdown table TB2 shown allows equipment 140 to be changed to a more suitable state ST for each worker. This makes it easier for workers to operate vehicle 100.

[0045] Furthermore, according to the first embodiment described above, the control system 50 refers to the database DB... Figure 4 The illustrated body composition table TB3 allows the status ST of equipment 140 to be changed accordingly to the worker's physique. In this case, the status ST of equipment 140 is specified for each of the three zones categorized according to the worker's height in the body composition table TB3. In this way, by specifying the status ST of equipment 140 for each zone categorized according to the worker's physique in the body composition table TB3, the control system 50 can change the status ST of equipment 140 even without detailed information about the worker's physique.

[0046] Furthermore, according to the first embodiment described above, such as Figure 1 As shown, after each work process WP1, WP2, and WP3 is completed, and before the next work process WP1, WP2, and WP3 begins, respectively, conveying processes TP1 and TP2, which do not involve operations on the vehicle 100, are performed. Furthermore, when each work process WP1 to WP3 has been completed, the control system 50 can... Figure 6 The control method for the equipment 140 shown begins. In this way, the equipment 140 can be changed to the appropriate state ST during transport processes TP1 and TP2, which do not involve operations on the vehicle 100. Therefore, the control system 50 can further shorten the operation time.

[0047] Furthermore, according to the first embodiment described above, the control system 50 can complete the change of the state ST of the equipment 140 before the start of the next operation. In this way, the control system 50 can change the state ST of the equipment 140 in advance before the start of the next operation. This avoids the uneven time required for changing the state ST of the equipment 140 due to variations in the state ST of the equipment 140 depending on the characteristics of the operator, the job content, and the state ST of the equipment 140 before the change. Therefore, the control system 50 can stabilize the operation time in each operation process WP1 to WP3. In addition, by completing the change of the state ST of the equipment 140 before the start of the next operation, the control system 50 can further shorten the operation time. This avoids the increased time required for changing the state ST of the equipment 140 when the operation speed is slow, especially when the state ST of the equipment 140 is changed electrically automatically by external control compared to the case of manually changing the state ST of the equipment 140 mechanically.

[0048] Furthermore, the control system 50 can also be used when each work process WP1 to WP3 has been completed. Figure 6 The control method shown begins, and after the next operation begins, the change of state ST of equipment 140 is completed. Even so, the control system 50 can start the change of state ST of equipment 140 in transport processes TP1 and TP2 that do not involve any operation. As a result, the control system 50 can shorten the operation time.

[0049] B. Second implementation method: Figure 7 This is an explanatory diagram showing the schematic configuration of the control system 50v in the second embodiment. In this embodiment, the control system 50v differs from the first embodiment in that it does not include the server 200. Furthermore, the vehicle 100v in this embodiment is capable of autonomous operation through the autonomous control of the vehicle 100v. Unless otherwise specified, other configurations are the same as in the first embodiment.

[0050] In this embodiment, the processor 111v of the vehicle control device 110v functions as the vehicle control unit 115v and the acquisition unit 116 by executing the program PG1 stored in the memory 112v. The acquisition unit 116 acquires the operation information MI. The vehicle control unit 115v acquires the output results obtained from the sensors, uses the output results to generate a driving control signal, and outputs the generated driving control signal to activate the actuator assembly 120, thereby enabling the vehicle 100v to drive autonomously. Furthermore, the vehicle control unit 115v uses the acquired operation information MI to generate an equipment control signal, and uses the generated equipment control signal to control a specific actuator, thereby changing the state ST of the equipment 140. In this embodiment, in addition to the program PG1, the memory 112v also stores the detection model DM, the reference path RR, and the database DB in advance.

[0051] Figure 8 This is a flowchart illustrating the processing flow of the vehicle 100V driving control in the second embodiment. Figure 8 In the processing flow, the processor 111v of the vehicle 100v functions as the vehicle control unit 115v by executing program PG1.

[0052] In step S901, the processor 111v of the vehicle control device 110v obtains vehicle position information using the detection results output from the camera, which is an external sensor 300. In step S902, the processor 111v determines the target location that the vehicle 100v should go to next. In step S903, the processor 111v generates a driving control signal to make the vehicle 100v move towards the determined target location. In step S904, the processor 111v controls the actuator assembly 120 using the generated driving control signal, thereby making the vehicle 100v move according to the parameters represented by the driving control signal. The processor 111v repeatedly performs the acquisition of vehicle position information, determination of target location, generation of driving control signal, and control of actuator assembly 120 at a predetermined cycle. According to the control system 50v in this embodiment, even without remote control of the vehicle 100v through the server 200, the vehicle 100v can be driven autonomously.

[0053] According to the second embodiment described above, the control system 50v does not require the operator to perform an action to change the state ST of the equipment 140. Instead, it can change the state ST of the equipment 140 through the autonomous control of the vehicle 100v, in accordance with the characteristics of the operator and the work content.

[0054] C. Other implementation methods: (C1) Figure 6The control method for equipment 140 shown can also be executed during operator rotation time within the same work processes WP1 to WP3. In this way, when operators rotate within the same work processes WP1 to WP3, control systems 50 and 50v can change the state ST of equipment 140. This allows operators to easily manipulate vehicle 100. Furthermore, control systems 50 and 50v can flexibly utilize operator rotation time to change equipment 140 to the appropriate state ST. Therefore, control systems 50 and 50v can further shorten operation time.

[0055] (C2) Memory units 112v and 202 may also store multiple databases DB prepared for each category of vehicles 100 and 100v. In this case, acquisition units 116 and 211 also acquire category information indicating the category of vehicles 100 and 100v. When determining the state ST of equipment 140, control units 115v and 212 refer to the database DB of the category determined based on the acquired category information from the multiple databases DB. In this way, when the size, shape, configuration, etc. of equipment 140 differ according to the category of vehicles 100 and 100v, control systems 50 and 50v can change equipment 140 to a more suitable state ST. Furthermore, when the size and shape of the main body of vehicles 100 and 100v, the type and number of equipment 140 mounted thereon, etc. differ according to the category of vehicles 100 and 100v, control systems 50 and 50v can also change equipment 140 to a more suitable state ST.

[0056] (C3) When changing the state ST of multiple equipment items 140, the control units 115v and 212 can simultaneously change the state ST of at least two or more equipment items 140. This allows the control systems 50 and 50v to shorten the time required to change the state ST of the equipment items 140. Consequently, the control systems 50 and 50v further reduce operation time.

[0057] (C4) In the above embodiments, the external sensor 300 is not limited to a camera; for example, it can be a ranging device. The ranging device could be, for example, LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 can also be three-dimensional point cloud data representing vehicles 100 and 100v. In this case, the server 200 and vehicles 100 and 100v can also obtain vehicle position information by matching the three-dimensional point cloud data as the detection result with a template of pre-prepared reference point cloud data.

[0058] (C5) In the first embodiment described above, the server 200 performs the process from obtaining the vehicle location information to generating the driving control signal. In contrast, the vehicle 100 may also perform at least a portion of the process from obtaining the vehicle location information to generating the driving control signal. For example, it may be performed in the manner described in (1) to (3) below.

[0059] (1) The server 200 may obtain vehicle location information, determine the target location that vehicle 100 should go to next, and generate a path from the current location of vehicle 100 as indicated by the obtained vehicle location information to the target location. The server 200 may generate either a path to the target location between the current location and the destination, or a path to the destination. The server 200 may send the generated path to vehicle 100. Vehicle 100 may generate a driving control signal in such a way that vehicle 100 travels on the path received from server 200, and use the generated driving control signal to control actuator group 120.

[0060] (2) The server 200 can obtain vehicle location information and send the obtained vehicle location information to the vehicle 100. The vehicle 100 can decide the target location that the vehicle 100 should go to next, generate a path from the current position of the vehicle 100 represented by the received vehicle location information to the target location, generate a driving control signal in the manner that the vehicle 100 travels on the generated path, and use the generated driving control signal to control the actuator group 120.

[0061] (3) In the methods described in (1) and (2) above, the vehicle 100 may be equipped with internal sensors, and the detection results output from the internal sensors may be used in at least one of the path generation and driving control signal generation. The internal sensors are sensors mounted on the vehicle 100. The internal sensors may include, for example, sensors that detect the motion state of the vehicle 100, sensors that detect the motion state of various parts of the vehicle 100, and sensors that detect the surrounding environment of the vehicle 100. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radar, ultrasonic sensors, GPS sensors, accelerometers, gyroscopes, etc. For example, in the method described in (1) above, the server 200 may obtain the detection results from the internal sensors and reflect these results in the path when generating the path. In the method described in (1) above, the vehicle 100 may also obtain the detection results from the internal sensors and reflect them in the driving control signal when generating the driving control signal. In the method described in (2) above, the vehicle 100 may obtain the detection results from the internal sensors and reflect them in the path when generating the path. In the above (2) method, the vehicle 100 may obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the driving control signal when generating the driving control signal.

[0062] (C6) In the second embodiment described above, the vehicle 100v may be equipped with an internal sensor, and the detection results output from the internal sensor may be used in at least one of the processes of path generation and driving control signal generation. For example, the vehicle 100v may acquire the detection results of the internal sensor and reflect these results in the path generation. Alternatively, the vehicle 100v may acquire the detection results of the internal sensor and reflect these results in the driving control signal when generating the driving control signal.

[0063] (C7) In the second embodiment described above, vehicle 100v obtains vehicle position information using the detection results of external sensor 300. In contrast, vehicle 100v may be equipped with internal sensors. Vehicle 100v uses the detection results of these internal sensors to obtain vehicle position information, determines the target location to which vehicle 100v should proceed, generates a path from its current position (represented by the obtained vehicle position information) to the target location, generates a driving control signal for traveling along the generated path, and uses the generated driving control signal to control the actuator assembly 120. In this case, vehicle 100v can travel without using the detection results of any external sensor 300. Furthermore, vehicle 100v may obtain the target arrival time and / or congestion information from outside the vehicle, reflecting the target arrival time and / or congestion information in at least one of the path and the driving control signal. Additionally, the entire functionality of control system 50v may be implemented within vehicle 100v. That is, the processing implemented by control system 50v in this disclosure can be implemented solely by vehicle 100v.

[0064] (C8) In the first embodiment described above, the server 200 automatically generates a driving control signal to be sent to the vehicle 100. Alternatively, the server 200 may also generate a driving control signal to be sent to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, the server 200 may generate a driving control signal corresponding to the operation applied to the driving control device, which is equipped with a display showing images captured from external sensors 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, operated by an external operator.

[0065] (C9) In the above embodiments, vehicles 100 and 100v only need to have a configuration that enables them to move autonomously, for example, they can also be in the form of a platform with the configuration described below. Specifically, in order to perform the three functions of "driving," "steering," and "stopping" through autonomous driving, vehicles 100 and 100v only need to have vehicle control devices 110 and 110v and actuator assembly 120. When vehicles 100 and 100v obtain information from the outside for autonomous driving, vehicles 100 and 100v also need to have a communication device 130. That is, vehicles 100 and 100v that can move autonomously may not be equipped with at least some of the interior components such as a driver's seat and dashboard, may not be equipped with at least some of the exterior components such as bumpers and mudguards, and may not be equipped with a body shell. In this case, the remaining components, such as the body shell, can be assembled onto vehicles 100 and 100v during the period between shipment from factory FC and shipment of vehicles 100 and 100v. Alternatively, the remaining components, such as the body shell, can be assembled onto vehicles 100 and 100v after shipment from factory FC with the body shell and other remaining components not yet assembled. Each component can be assembled from any direction on vehicles 100 and 100v, such as the top, bottom, front, rear, right, or left side. They can be assembled from the same direction or from different directions. Furthermore, the form of the test bench can be determined in the same way as that of vehicles 100 and 100v in the first embodiment.

[0066] (C10) Vehicles 100 and 100v can also be manufactured by combining multiple modules. A module means a unit consisting of one or more parts that are aggregated according to the structure and function of vehicles 100 and 100v. For example, the chassis of vehicles 100 and 100v can be manufactured by combining a front module constituting the front part of the chassis, a central module constituting the central part of the chassis, and a rear module constituting the rear part of the chassis. Furthermore, the number of modules constituting the chassis is not limited to three, and can be two or less or four or more. In addition, parts of vehicles 100 and 100v that are different from the chassis can be modularized, or parts of vehicles 100 and 100v that are different from the chassis can be modularized instead of the chassis. In addition, various modules can also include any exterior parts such as bumpers and grilles, and any interior parts such as seats and consoles. Furthermore, not limited to vehicles 100 and 100v, any kind of moving body can be manufactured by combining multiple modules. Such modules can be manufactured, for example, by joining multiple components using welding or fasteners, or by integrally molding at least a portion of the module into a single component using casting. The molding method of integrally molding at least a portion of the module into a single component is also known as Giga-casting or Mega-casting. By using Giga-casting, it is possible to form the various parts of a mobile body, which were previously formed by joining multiple components, into a single component. For example, the aforementioned front module, central module, and rear module can also be manufactured using Giga-casting.

[0067] (C11) Transporting vehicles 100 and 100v using driverless vehicles is also called "autonomous transport". Furthermore, the configuration used to achieve autonomous transport is also called a "vehicle remote-controlled autonomous driving transport system". Additionally, the production method that utilizes autonomous transport to produce vehicles 100 and 100v is also called "autonomous production". In autonomous production, for example in factory FC that manufactures vehicles 100 and 100v, at least a portion of the transport of vehicles 100 and 100v is achieved through autonomous transport.

[0068] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features of the embodiments corresponding to the technical features in the various methods described in the "Summary of the Invention" section can be appropriately replaced or combined to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. In addition, such technical features can be appropriately deleted as long as they are not described as essential parts in this specification. Explanation of reference numerals in the attached figures

[0069] 50, 50V…control system, 100, 100V…vehicle, 110, 110V…vehicle control unit, 111, 111V…processor of vehicle control unit, 112, 112V…memory of vehicle control unit, 113…input / output interface of vehicle control unit, 114…internal bus of vehicle control unit, 115, 115V…vehicle control unit, 116, 211…acquisition unit, 120…actuator group, 130…vehicle communication device, 140…equipment, 200…server, 201… …Server processor, 202…Server memory, 203…Server input / output interface, 204…Server internal bus, 205…Server communication device, 212…Remote control unit, 300…External sensor, AM1~AM5…Rearview mirror angle, AR1~AR5…Backrest tilt angle, AS1~AS5…Seat tilt angle, CI…Content information, DB…Database, DI…Control information, DM…Detection model, EI…Environmental information, FC…Plant, FI…Feature information GC…Global coordinate system, HH1~HH5…Height of headrest, HS1~HS5…Height of seat surface, L1, L2…Width of travel path, LS…Reference width, MI…Work information, OI…Sequence information, PD1~PD6, PP1, PP2…Position of seat, PG1, PG2…Program, PI…Personal information, PL1…First location, PL2…Second location, PL3…Third location, RR…Reference path, SI…Process identification information, ST…Status of equipment, TA1…First conveyor zone. TA2…Second conveying area, TB1…Content sheet, TB2…Worker sub-sheet, TB3…Physical table, TE1~TE5…Steering wheel position, TI…Object information, TI1~TI5…Steering wheel angle, TP1…First conveying process, TP2…Second conveying process, TR…Road, WA1…First work area, WA2…Second work area, WA3…Third work area, WI…Worker identification information, WP1…First work process, WP2…Second work process, WP3…Third work process.

Claims

1. A control system, comprising: A mobile vehicle equipped with equipment that can change its state, capable of moving autonomously; The acquisition unit acquires at least one of the following: personal information related to the personnel performing the operation on the mobile body and content information showing the operation content, i.e., operation information; and The control unit uses the acquired operational information to change the status of the equipment.

2. The control system according to claim 1, wherein, The control unit completes the change of the state of the equipment before the operation begins.

3. The control system according to claim 1, wherein, The acquiring unit at least acquires the content information. If the work content determined based on the content information includes a manipulation operation in which the operator rides on the mobile body to perform the operation, then... The acquiring department acquires the personal information of the personnel performing the manipulation operation. The control unit uses the acquired personal information to change the status of the equipment.

4. The control system according to claim 1, wherein, It also has a storage device that stores a database that establishes a correspondence between the operation information and the status of the equipment. The control unit determines the state of the equipment corresponding to the acquired operation information by referring to the database, and changes the state of the equipment to the determined state.

5. The control system according to claim 4, wherein, The memory stores multiple databases prepared according to each category of the mobile body. The acquiring unit also acquires category information indicating the category of the moving body. When determining the state of the equipment, the control unit refers to the database of the category determined based on the obtained category information in the plurality of databases.

Images